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A new wheel control system for the omnidirectional HERMIES-III robot*

Published online by Cambridge University Press:  09 March 2009

D. B. Reister
D. B. Reister
Affiliation:
Center for Engineering Systems Advanced Research, Oak Ridge National Laboratory, P.O. Box 2008, Building 6025, M S-6364, Oak Ridge, TN 37831–6364 (USA)
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Summary

We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot.

Keywords

Hermies-III robotControl systemOmnidirectional
Type
Article
Information
Robotica , Volume 10 , Issue 4 , July 1992 , pp. 351 - 360
Copyright
Copyright © Cambridge University Press 1992

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References

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